Add arm code on superstructure
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: I20e40f8ccb8a17b7b3f18390fd2f428f5a1fff1e
Signed-off-by: Alexander Yee <xander.yee@gmail.com>
diff --git a/y2023/control_loops/superstructure/superstructure_goal.fbs b/y2023/control_loops/superstructure/superstructure_goal.fbs
index 47ce7b2..936cbee 100644
--- a/y2023/control_loops/superstructure/superstructure_goal.fbs
+++ b/y2023/control_loops/superstructure/superstructure_goal.fbs
@@ -8,13 +8,16 @@
// Controls distal, proximal, and roll joints
arm_goal_position:uint32 (id: 0);
- wrist:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 1);
+ // Overrides the current path to go to the next path
+ trajectory_override:bool (id: 1);
+
+ wrist:frc971.control_loops.StaticZeroingSingleDOFProfiledSubsystemGoal (id: 2);
// If this is true, the rollers should intake.
- intake:bool (id: 2);
+ intake:bool (id: 3);
// If this is true, the rollers should spit.
- spit:bool (id: 3);
+ spit:bool (id: 4);
}